串联机器人运动学建模与轨迹规划研究  

Kinematics Modeling and Trajectory Planning of Serial Robots

作　　者：于昊 陈桂[1] 丁飞 许艺严 YU Hao;CHEN Gui;DING Fei;XU Yi-yan(School of Automation, Nanjing Institute of Technology, Nanjing 211167, China)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《南京工程学院学报（自然科学版）》2022年第1期27-31,共5页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：南京工程学院基金项目(CKJA201804)。

摘　　要：以IRS300-3机器人为研究对象对六自由度串联机器人的运动学建模及轨迹规划方法进行研究,采用D-H建模方法,结合Matlab Robotics机器人工具箱建立IRS300-3机器人运动模型,对机器人操作空间进行运动学分析.采用五次多项式插值方法,基于PPO路径规划码垛轨迹,分别实现机器人在关节空间和笛卡尔空间的轨迹规划与仿真,在IRS300-3机器人上验证轨迹规划算法的正确性.研究结果表明,使用五次多项式插值方法完成轨迹规划后的机器人关节角度、角速度、角加速度均无明显突变,运动平稳,轨迹的跟踪性能良好.This paper aims to study the kinematics modeling and trajectory planning method of 6DOF serial robots by taking IRS3003 robot as the research object.Kinematics analysis of robot operation space is carried out through the use of Denavit-Hartenberg(DH)method and Matlab Robotics robot toolbox to establish the motion model.Quintic polynomial interpolation and PPO path planning are also employed to realize trajectory planning and Simulation of robot in joint space and Cartesian space.The correctness of the trajectory planning algorithm is verified on the IRS3003 robot.The results show that the joint angle,velocity and acceleration of the robot after trajectory planning by using the quintic polynomial interpolation method have no obvious mutation.The motion is stable,which makes a sufficient theoretical foundation for the subsequent optimization experiments.

关 键 词：机器人 MATLAB 运动学 轨迹规划 五次多项式插值 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]